Research on Trajectory Tracking Control of AUV Based on MPC
This paper investigates the trajectory tracking control problem of AUVs.In order to improve the trajectory tracking performance of AUV,a method of Model Predictive Control based on Lyapunov is proposed to design the controller.Firstly,based on the method,considering practical constraints such as actuator saturation,a nonlinear backstepping tracking control law is designed,and constraint conditions are constructed in the problem of Model Predictive Control based on Lyapunov to ensure the stability of the closed-loop.Secondly,the traditional method for setting controller parameters is generally the trial and error method,where different parameters are substituted based on experience to observe the tracking effect of AUV.For the weight matrix in the Model Predictive Control based on Lyapunov,an improved Cuckoo Search algorithm is used for optimization.Finally,the simulation results on MATLAB show that the proposed method significantly improves the trajectory tracking control performance of AUVs.
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